Remove mjMARKSTACK and mjFREESTACK macros.
PiperOrigin-RevId: 562844184 Change-Id: Id2f57f5d132c47094dad75c6dab7297d7aa73458
This commit is contained in:
Saran Tunyasuvunakool
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Copybara-Service
Copybara-Service
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329ed193ac
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4929077211
@@ -43,39 +43,6 @@ API function can be classified as:
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Macros
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^^^^^^
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.. _mjMARKSTACK:
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mjMARKSTACK
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~~~~~~~~~~~
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.. code-block:: C
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#define mjMARKSTACK int _mark = d->pstack;
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This macro is helpful when using the MuJoCo stack in custom computations. It works together with the next macro and the
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:ref:`mj_stackAlloc` family of functions, and assumes that mjData\* d is defined. The use pattern is this:
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.. code-block:: C
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mjMARKSTACK;
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mjtNum* temp = mj_stackAllocNum(d, 100);
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// ... use temp as needed
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mjFREESTACK;
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.. _mjFREESTACK:
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mjFREESTACK
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~~~~~~~~~~~
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.. code-block:: C
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#define mjFREESTACK d->pstack = _mark;
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Reset the MuJoCo stack pointer to the variable \_mark, normally saved by mjMARKSTACK.
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.. _mjDISABLED:
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mjDISABLED
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+50
-28
@@ -5,58 +5,80 @@ Changelog
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Upcoming version (not yet released)
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-----------------------------------
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General
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^^^^^^^
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New features
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^^^^^^^^^^^^
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.. youtube:: Vc1tq0fFvQA
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:align: right
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:width: 240px
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1. Added constraint island discovery in :ref:`mj_island`. Constraint islands are disjoint sets of constraints
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and degrees-of-freedom that do not interact. In a future release the constraint solver will be refactored to
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exploit the disjoint structure. Island discovery can be activated using a new :ref:`enable flag<option-flag-island>`
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which will be removed after the refactor. If island discovery is enabled, geoms, contacts and
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tendons will be colored according to the corresponding island, see video.
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.. youtube:: QewlEqIZi1o
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:align: right
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:width: 240px
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1. Added new signed distance field (SDF) collision primitive. SDFs can take any shape and are not constrained to be
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2. Added new signed distance field (SDF) collision primitive. SDFs can take any shape and are not constrained to be
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convex. Collision points are found by minimizing the maximum of the two colliding SDFs via gradient descent.
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- Added new SDF plugin for defining implicit geometries. The plugin must define methods computing an SDF and its
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gradient at query points See the :ref:`documentation<exWriting>` for more details.
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.. youtube:: Vc1tq0fFvQA
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:align: right
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:width: 240px
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3. Added :ref:`mjThreadPool` and :ref:`mjTask` which allow for multi-threaded operations within MuJoCo engine pipeline.
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#. Added constraint island discovery in :ref:`mj_island`. Constraint islands are disjoint sets of constraints
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and degrees-of-freedom that do not interact. In a future release the constraint solver will be refactored to
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exploit the disjoint structure. Island discovery can be activated using a new :ref:`enable flag<option-flag-island>`
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which will be removed after the refactor. If island discovery is enabled, geoms, contacts and
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tendons will be colored according to the corresponding island, see video.
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#. Added a new :ref:`dyntype<actuator-general-dyntype>`, ``filterexact``, which updates first-order filter states with
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General
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^^^^^^^
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.. admonition:: Breaking API changes
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:class: attention
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4. Removed macros ``mjMARKSTACK`` and ``mjFREESTACK``.
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.. admonition:: Migration note
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:class: note
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These macros have been replaced by new functions :ref:`mj_markStack` and :ref:`mj_freeStack`. These functions
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manages ``mjData`` stack frames in a fully encapsulated way (i.e. without having to introduce a local variable
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at the call site).
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5. Changed the function :ref:`mj_stackAlloc` to allocate an arbitrary number of bytes, rather than in multiples of
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``sizeof(mjtNum)``, and add an additional argument for specifying the alignment of the returned pointer.
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.. admonition:: Migration note
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:class: note
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The old functionality for allocating ``mjtNum`` arrays is still available through a new function
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:ref:`mj_stackAllocNum`.
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6. Renamed the ``nstack`` field in :ref:`mjModel` and :ref:`mjData` to ``narena``. Changed ``narena``, ``pstack``,
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and ``maxuse_stack`` to count number of bytes rather than number of :ref:`mjtNum` |-| s.
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7. Added a new :ref:`dyntype<actuator-general-dyntype>`, ``filterexact``, which updates first-order filter states with
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the exact formula rather than with Euler integration.
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#. Added an actuator attribute, :ref:`actearly<actuator-general-actearly>`, which uses semi-implicit integration for
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8. Added an actuator attribute, :ref:`actearly<actuator-general-actearly>`, which uses semi-implicit integration for
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actuator forces: using the next step's actuator state to compute the current actuator forces at the current timestep.
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#. Renamed ``actuatorforcerange`` and ``actuatorforcelimited``, introduced in the previous version to
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9. Renamed ``actuatorforcerange`` and ``actuatorforcelimited``, introduced in the previous version to
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:ref:`actuatorfrcrange<body-joint-actuatorfrcrange>` and
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:ref:`actuatorfrclimited<body-joint-actuatorfrclimited>`, respectively.
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#. Added the flag :ref:`eulerdamp<option-flag-eulerdamp>`, which disables implicit integration of joint damping in the
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Euler integrator. See the :ref:`Numerical Integration<geIntegration>` section for more details.
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#. Added the flag :ref:`invdiscrete<option-flag-invdiscrete>`, which enables discrete-time inverse dynamics for all
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:ref:`integrators<option-integrator>` other than ``RK4``. See the flag documentation for more details.
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#. Changed the function :ref:`mj_stackAlloc` to allocate an arbitrary number of bytes, rather than in multiples of
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``sizeof(mjtNum)``, and add an additional argument for specifying the alignment of the returned pointer. The existing
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functionality of allocating ``mjtNum`` arrays is still available through the new function :ref:`mj_stackAllocNum`.
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#. Renamed the ``nstack`` field in :ref:`mjModel` and :ref:`mjData` to ``narena``. Changed ``narena``, ``pstack``, and
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``maxuse_stack`` to count number of bytes rather than number of :ref:`mjtNum` |-| s.
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#. Added new functions ``mj_markStack`` and ``mj_freeStack`` that manages ``mjData`` stack frames in a fully
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encapsulated way (i.e. without having to introduce a local variable at the call site).
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#. Added :ref:`mjThreadPool` and :ref:`mjTask` which allow for multi-threaded operations within MuJoCo engine pipeline.
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10. Added the flag :ref:`eulerdamp<option-flag-eulerdamp>`, which disables implicit integration of joint damping in the
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Euler integrator. See the :ref:`Numerical Integration<geIntegration>` section for more details.
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11. Added the flag :ref:`invdiscrete<option-flag-invdiscrete>`, which enables discrete-time inverse dynamics for all
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:ref:`integrators<option-integrator>` other than ``RK4``. See the flag documentation for more details.
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Python bindings
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^^^^^^^^^^^^^^^
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10. Fixed `#870 <https://github.com/deepmind/mujoco/issues/870>`__ where calling ``update_scene`` with an invalid
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12. Fixed `#870 <https://github.com/deepmind/mujoco/issues/870>`__ where calling ``update_scene`` with an invalid
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camera name used the default camera.
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Bug fixes
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^^^^^^^^^
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11. Fixed a bug that was causing the geom margins to be ignored during the midphase.
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13. Fixed a bug that was causing the geom margins to be ignored during the midphase.
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Version 2.3.7 (July 20, 2023)
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@@ -2456,7 +2456,7 @@ void mju_addTo3(mjtNum res[3], const mjtNum vec[3]);
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void mju_subFrom3(mjtNum res[3], const mjtNum vec[3]);
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void mju_addToScl3(mjtNum res[3], const mjtNum vec[3], mjtNum scl);
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void mju_addScl3(mjtNum res[3], const mjtNum vec1[3], const mjtNum vec2[3], mjtNum scl);
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mjtNum mju_normalize3(mjtNum res[3]);
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mjtNum mju_normalize3(mjtNum vec[3]);
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mjtNum mju_norm3(const mjtNum vec[3]);
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mjtNum mju_dot3(const mjtNum vec1[3], const mjtNum vec2[3]);
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mjtNum mju_dist3(const mjtNum pos1[3], const mjtNum pos2[3]);
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@@ -2466,10 +2466,10 @@ void mju_cross(mjtNum res[3], const mjtNum a[3], const mjtNum b[3]);
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void mju_zero4(mjtNum res[4]);
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void mju_unit4(mjtNum res[4]);
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void mju_copy4(mjtNum res[4], const mjtNum data[4]);
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mjtNum mju_normalize4(mjtNum res[4]);
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mjtNum mju_normalize4(mjtNum vec[4]);
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void mju_zero(mjtNum* res, int n);
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void mju_fill(mjtNum* res, mjtNum val, int n);
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void mju_copy(mjtNum* res, const mjtNum* data, int n);
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void mju_copy(mjtNum* res, const mjtNum* vec, int n);
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mjtNum mju_sum(const mjtNum* vec, int n);
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mjtNum mju_L1(const mjtNum* vec, int n);
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void mju_scl(mjtNum* res, const mjtNum* vec, mjtNum scl, int n);
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@@ -703,21 +703,19 @@ internally when an instability is detected in :ref:`mj_step`, :ref:`mj_step1` an
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take advantage of the custom stack, this needs to be done in-between MuJoCo calls that have the potential to reset the
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simulation.
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Below is the general template for using the custom stack in user code. This assumes that ``mjData\* d`` is defined in
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the scope. If not, saving and restoring the stack pointer should be done manually instead of using the
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:ref:`mjMARKSTACK` and :ref:`mjFREESTACK` macros.
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Below is the general template for using the custom stack in user code.
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.. code-block:: C
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// save stack pointer in the "hidden" variable _mark
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mjMARKSTACK;
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// mark an mjData stack frame
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mj_markStack(d);
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// allocate space
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mjtNum* myqpos = mj_stackAllocNum(d, m->nq);
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mjtNum* myqvel = mj_stackAllocNum(d, m->nv);
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// restore stack from _mark
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mjFREESTACK;
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// restore the mjData stack frame
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mj_freeStack(d);
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The function :ref:`mj_stackAllocNum` checks if there is enough space, and if so it advances the stack pointer,
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otherwise it triggers an error. It also keeps track of the maximum stack allocation;
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